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<div class="title">ContactImpulse.h</div>  </div>
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<a href="../../da/daa/_contact_impulse_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef CONTACT_IMPULSE_H</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define CONTACT_IMPULSE_H</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d5/d79/_contact_constraint_8h.html">ContactConstraint.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d5/d9a/_floating_base_model_8h.html">Dynamics/FloatingBaseModel.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html">   15</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a> : <span class="keyword">public</span> <a class="code" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt;T&gt; {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#ace70a8c31ed807e7a3523c4a017b41c6">   17</a></span>&#160;  <a class="code" href="../../d2/dc6/class_contact_impulse.html#ace70a8c31ed807e7a3523c4a017b41c6">ContactImpulse</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt;T&gt;</a>* model) : <a class="code" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt;T&gt;(model) {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">_iter_lim</a> = 10;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">_nDof</a> = CC::_model-&gt;_nDof;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#a9fb06016ca246858e8ee17285c92a296">_b_debug</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  }</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#a3d26dbb0964d7bc37a9573e703b0b0b9">   22</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#a3d26dbb0964d7bc37a9573e703b0b0b9">~ContactImpulse</a>() {}</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#a4513e5bb2a4bc15a7569e57e6ea4a410">   32</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#a4513e5bb2a4bc15a7569e57e6ea4a410">UpdateExternalForces</a>(T K, T D, T dt) {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    (void)K;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    (void)D;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="comment">// Set penetration recovery ration here</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">_penetration_recover_ratio</a> = 0.0 / dt;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#a37cd34760a5ce1471ee8ea00609f2dd1">_dt</a> = dt;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  }</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#a2687e2f75714f9c4f8eb445d221a72ac">UpdateQdot</a>(<a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;T&gt;</a>&amp; state);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; <span class="keyword">protected</span>:</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">   48</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">_iter_lim</a>;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#a9fb06016ca246858e8ee17285c92a296">   49</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#a9fb06016ca246858e8ee17285c92a296">_b_debug</a>;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#a89eaadd1f1e0c0b66800e24c647fe008">   50</a></span>&#160;  T <a class="code" href="../../d2/dc6/class_contact_impulse.html#a89eaadd1f1e0c0b66800e24c647fe008">_tol</a> = 1.e-6;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">   51</a></span>&#160;  T <a class="code" href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">_penetration_recover_ratio</a>;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">   52</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">_nDof</a>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#a35e8700c162b46af46495eb0e93f7b62">_UpdateVelocity</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a>&amp; qdot);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">_UpdateQdotOneDirection</a>(<span class="keywordtype">size_t</span> idx,</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                               <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="code" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat&lt;T&gt;</a> &gt;&amp; Jc_list,</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                               <span class="keyword">const</span> T* lambda_list,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                               <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> &gt; AinvB_list,</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                               <span class="keyword">const</span> T* des_vel_list, <span class="keyword">const</span> T* min_list,</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                               <span class="keyword">const</span> T* max_list, <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a>&amp; qdot);</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">   60</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">_iter_sum</a>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="../../d2/dc6/class_contact_impulse.html#a37cd34760a5ce1471ee8ea00609f2dd1">   63</a></span>&#160;  T <a class="code" href="../../d2/dc6/class_contact_impulse.html#a37cd34760a5ce1471ee8ea00609f2dd1">_dt</a>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;};</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="class_contact_impulse_html_a35e8700c162b46af46495eb0e93f7b62"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a35e8700c162b46af46495eb0e93f7b62">ContactImpulse::_UpdateVelocity</a></div><div class="ttdeci">void _UpdateVelocity(DVec&lt; T &gt; &amp;qdot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d75/_contact_impulse_8cpp_source.html#l00039">ContactImpulse.cpp:39</a></div></div>
<div class="ttc" id="class_contact_impulse_html_afd1ed9e46beb5b9085d264b51140e1ca"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">ContactImpulse::_UpdateQdotOneDirection</a></div><div class="ttdeci">void _UpdateQdotOneDirection(size_t idx, const vectorAligned&lt; D3Mat&lt; T &gt; &gt; &amp;Jc_list, const T *lambda_list, const vectorAligned&lt; DVec&lt; T &gt; &gt; AinvB_list, const T *des_vel_list, const T *min_list, const T *max_list, DVec&lt; T &gt; &amp;qdot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d75/_contact_impulse_8cpp_source.html#l00149">ContactImpulse.cpp:149</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a382c70240fc40ce866e47080a13dbb10"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">ContactImpulse::_iter_lim</a></div><div class="ttdeci">size_t _iter_lim</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00048">ContactImpulse.h:48</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a2687e2f75714f9c4f8eb445d221a72ac"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a2687e2f75714f9c4f8eb445d221a72ac">ContactImpulse::UpdateQdot</a></div><div class="ttdeci">virtual void UpdateQdot(FBModelState&lt; T &gt; &amp;state)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d75/_contact_impulse_8cpp_source.html#l00005">ContactImpulse.cpp:5</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a37cd34760a5ce1471ee8ea00609f2dd1"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a37cd34760a5ce1471ee8ea00609f2dd1">ContactImpulse::_dt</a></div><div class="ttdeci">T _dt</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00063">ContactImpulse.h:63</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a3d26dbb0964d7bc37a9573e703b0b0b9"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a3d26dbb0964d7bc37a9573e703b0b0b9">ContactImpulse::~ContactImpulse</a></div><div class="ttdeci">virtual ~ContactImpulse()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00022">ContactImpulse.h:22</a></div></div>
<div class="ttc" id="class_contact_impulse_html"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a></div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00015">ContactImpulse.h:15</a></div></div>
<div class="ttc" id="class_contact_impulse_html_ace70a8c31ed807e7a3523c4a017b41c6"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#ace70a8c31ed807e7a3523c4a017b41c6">ContactImpulse::ContactImpulse</a></div><div class="ttdeci">ContactImpulse(FloatingBaseModel&lt; T &gt; *model)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00017">ContactImpulse.h:17</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a190e396ab8cb0eb974ad2a5195edcb24"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, Eigen::Dynamic &gt; D3Mat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00114">cppTypes.h:114</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html">FBModelState</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00038">FloatingBaseModel.h:38</a></div></div>
<div class="ttc" id="class_contact_impulse_html_afb8b216f5a6bc5becb846d579e5deb3b"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">ContactImpulse::_iter_sum</a></div><div class="ttdeci">size_t _iter_sum</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00060">ContactImpulse.h:60</a></div></div>
<div class="ttc" id="class_contact_impulse_html_aab96f25b17b3f32968e3387e7321e75f"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">ContactImpulse::_penetration_recover_ratio</a></div><div class="ttdeci">T _penetration_recover_ratio</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00051">ContactImpulse.h:51</a></div></div>
<div class="ttc" id="class_contact_constraint_html"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00020">ContactConstraint.h:20</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a078e1eaa8a3af13cef27a0a8d0c1302e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a></div><div class="ttdeci">typename std::vector&lt; T, Eigen::aligned_allocator&lt; T &gt;&gt; vectorAligned</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00118">cppTypes.h:118</a></div></div>
<div class="ttc" id="_contact_constraint_8h_html"><div class="ttname"><a href="../../d5/d79/_contact_constraint_8h.html">ContactConstraint.h</a></div><div class="ttdoc">Virtual class of Contact Constraint logic. </div></div>
<div class="ttc" id="class_floating_base_model_html"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00069">FloatingBaseModel.h:69</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a9fb06016ca246858e8ee17285c92a296"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a9fb06016ca246858e8ee17285c92a296">ContactImpulse::_b_debug</a></div><div class="ttdeci">bool _b_debug</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00049">ContactImpulse.h:49</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a4513e5bb2a4bc15a7569e57e6ea4a410"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a4513e5bb2a4bc15a7569e57e6ea4a410">ContactImpulse::UpdateExternalForces</a></div><div class="ttdeci">virtual void UpdateExternalForces(T K, T D, T dt)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00032">ContactImpulse.h:32</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a89eaadd1f1e0c0b66800e24c647fe008"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a89eaadd1f1e0c0b66800e24c647fe008">ContactImpulse::_tol</a></div><div class="ttdeci">T _tol</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00050">ContactImpulse.h:50</a></div></div>
<div class="ttc" id="_floating_base_model_8h_html"><div class="ttname"><a href="../../d5/d9a/_floating_base_model_8h.html">FloatingBaseModel.h</a></div><div class="ttdoc">Implementation of Rigid Body Floating Base model data structure. </div></div>
<div class="ttc" id="class_contact_impulse_html_a9afca4ee71d3095d3e75577cd1eaf432"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">ContactImpulse::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00052">ContactImpulse.h:52</a></div></div>
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